TY - GEN
T1 - A projection-based making-human-feel-safe system for human-robot cooperation
AU - Liu, Diyi
AU - Kinugawa, Jun
AU - Kosuge, Kazuhiro
PY - 2016/9/1
Y1 - 2016/9/1
N2 - When a person is working on a human robot cooperation system, he/she tends to worry about possible collisions with the robot, because of a lack of internal information about the robot. This internal information is, for example, an awareness of a worker's presence or future robot motion. Therefore, this paper proposes a projection-based making-human-feel-safe system that not only ensures the safety of a human worker but also ensures that the worker feels safe when working with a robot by displaying the internal information of the robot using projection technology. To develop this system, we utilized a Kalman filter for predicting a worker's hand position and compensating the delay in the projection. An elastic band framework was implemented to plan a safe path considering the position of the worker. Finally, an evaluation experiment was conducted to prove the effectiveness of the system.
AB - When a person is working on a human robot cooperation system, he/she tends to worry about possible collisions with the robot, because of a lack of internal information about the robot. This internal information is, for example, an awareness of a worker's presence or future robot motion. Therefore, this paper proposes a projection-based making-human-feel-safe system that not only ensures the safety of a human worker but also ensures that the worker feels safe when working with a robot by displaying the internal information of the robot using projection technology. To develop this system, we utilized a Kalman filter for predicting a worker's hand position and compensating the delay in the projection. An elastic band framework was implemented to plan a safe path considering the position of the worker. Finally, an evaluation experiment was conducted to prove the effectiveness of the system.
KW - Human-Robot Cooperation
KW - Make-human-feel-safe
KW - Manipulator
UR - http://www.scopus.com/inward/record.url?scp=84991236465&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84991236465&partnerID=8YFLogxK
U2 - 10.1109/ICMA.2016.7558716
DO - 10.1109/ICMA.2016.7558716
M3 - Conference contribution
AN - SCOPUS:84991236465
T3 - 2016 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016
SP - 1101
EP - 1106
BT - 2016 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 13th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016
Y2 - 7 August 2016 through 10 August 2016
ER -